Method and Device for Safely Parking a Vehicle

ABSTRACT

The invention relates to a method and to a device for safely parking a vehicle, wherein upon completion of a parking maneuver, at least two wheels of the vehicle are automatically controlled such that they are turned towards the road edge in the direction of travel.

The invention relates to a method for safely parking a vehicle inaccordance with the preamble of Claim 1. The invention additionallyrelates to a device for implementing the method according to theinvention.

A generic method is known from DE 10 2012 103 059 A1. The latterdiscloses a method for safely parking a vehicle, which includes meansfor detecting a road edge fixture, means for automatically controllingthe steering and means for detecting a parking situation. Within theframework of the method, on detection of a parking situation, i.e. whenit is detected that the vehicle is in its final parking position, atleast two wheels of the vehicle are automatically controlled such thatthey are turned towards the road edge in the direction of travel. Thisensures, particularly in the case of parking situations on a slope, thatin the event of the vehicle rolling away, said vehicle rolls in thedirection of the edge fixture and is stopped by the latter. The edgefixture is, for example, the curbstone or curb at the road edge.

This invention is based on the identified problem that automaticallyturning the wheels can result in damage to the vehicle, in particular ifthe distance from the road edge fixture is too small, which can thenresult in damage to the wheels and the steering mechanism of thevehicle.

It is therefore the object of this invention to indicate an improvedmethod and an improved device for safely parking a vehicle.

This object is achieved by a method having the features according toClaim 1 and by a device having the features according to Claim 7.Advantageous embodiments of the invention form the subject matter ofsubordinate claims.

One fundamental concept of the invention consists of monitoring aminimum distance from a road edge fixture by means of a detection deviceduring a parking maneuver. The minimum distance is thereby preferablycontinually monitored and is preferably selected such that the wheelscan be safely turned, without the possibility of causing damage to thevehicle, in particular such that the wheels do not touch the road edgefixture on turning. The minimum distance can thereby relate, forexample, to the distance between the outermost point of the lateralvehicle trim and the outermost edge or point of the road edge fixtureand/or to the distance between the edges of the vehicle, in particularwhen the wheels are in the non-turned position in the direction oftravel, and the outermost edge or point of the road edge fixture.

The method according to the invention is therefore used to safely park,in particular safely park by maneuvering or position a vehicle in aparking space or parking bay, wherein it is provided within theframework of the method that upon completion of a parking maneuver, i.e.in particular on reaching a final parking position, at least two wheelsof the vehicle are automatically controlled such that they are turnedtowards the road edge in the direction of travel. Within the frameworkof the method according to the invention a minimum distance from a roadedge fixture is thereby monitored by means of detection equipment duringthe parking maneuver.

The invention is preferably executed in the case of a parking situationon a slope. The fact that the vehicle is parked on a slope is therebypreferably established by means of a longitudinal acceleration sensor incombination with standstill recognition. The standstill recognition ispreferably executed with the aid of wheel rotation sensors. Longitudinalacceleration sensors are already used in the vehicle e.g. within theframework of ESP or occupant protection systems (activation of airbagsfollowing detection of an accident by an acceleration sensor). If thelongitudinal acceleration sensor emits a value, which is above aspecified threshold, when the vehicle is at a standstill, it can beenvisaged that the vehicle is parked on an incline or a slope.

In a preferred embodiment of the invention, a parking situation isdetected by means of one or more of the following criteria:

-   -   A parking brake lever or switch is operated by the driver. In a        preferred embodiment of the invention, a parking situation is        detected by means of additional criteria, e.g. the vehicle is        stopped for longer than a given time t1 (threshold) and/or the        driver unbuckles his seatbelt and/or opens the door.    -   An electronic parking brake of the vehicle is activated, in        particular by being automatically activated.

In a preferred embodiment of the invention, a parking situation isdetected by means of additional criteria, e.g. the vehicle is stoppedfor longer than a given time t1 (threshold), if it is detected that thevehicle is at a standstill, and the driver unbuckles his seatbelt and/oropens the door and/or if a parking maneuver which is carried out by anautomatic parking assistant is completed.

It is also important to detect in which direction the wheels are to beturned. The following methods are preferably used for this purpose:

-   -   The edge fixture is detected by means of environment sensors        (e.g. camera, ultrasound, etc.),    -   It is detected by means of an analysis of a maneuver prior to        the initiation of parking devices such as e.g. the parking        brake, in which direction the edge fixture must be. It can        therefore be assumed in the case of a parking maneuver in the        direction of travel towards the right that the edge fixture is        located on the right. The term ‘parking maneuver’ in this case        denotes the entire maneuver, not just the final steering in the        case of e.g. a parking maneuver involving multiple moves.        Accordingly, it can be assumed in the case of a parking maneuver        in the direction of travel towards the left that the edge        fixture is located on the left. A parking maneuver is hereby        either detected by the activation of a parking assistant or the        direction in which the vehicle moved during the passage of a        given period of time is generally stored, wherein this period of        time can assume any value between 5 and 90 seconds. In a        preferred embodiment, the period of time is approximately 10        seconds. In a particular embodiment of the invention, this        information is consulted in the case of standstill recognition.    -   The driver indicates the direction by activating the indicator        which, in particular, also switches on a parking light.

In particular, if the parking maneuver is a manual parking maneuver,i.e. a parking operation involving manual longitudinal and lateralcontrol of the vehicle by the vehicle driver, the vehicle driver is thenpreferably continually informed of the minimum distance from the roadedge fixture within the framework of the method according to theinvention during the manual parking maneuver. The vehicle driver can, inthis case, be informed by means of a suitable audible, visual and/orhaptic output device, for example, regarding whether the minimumdistance is being observed or fallen short of, or regarding the currentdistance from the minimum distance which has to be observed.

If the parking maneuver is an automated parking maneuver, i.e. a parkingoperation involving at least one automated lateral control and,optionally, an automated longitudinal control of the vehicle by means ofa parking assistance system, then the minimum distance from the roadedge fixture is observed according to the invention during the automatedparking maneuver. In this case, observing the minimum distance means, inparticular, observing the minimum distance on reaching the final parkinglocation or parking position. During the parking maneuver, i.e. duringmaneuvering of the vehicle into the final parking position, the vehiclemay be permitted to fall short of the minimum distance.

According to an advantageous embodiment of the method according to theinvention, in the event that the minimum distance is fallen short of, inparticular in the event that said minimum distance is fallen short of inthe final parking position of the vehicle, the wheels are turned to alesser extent compared with the extent to which the wheels are turned onobserving the minimum distance. The wheels can, in this case only beturned, for example, up to such an extent that the turned wheels do nottouch the road edge.

According to another advantageous embodiment of the method according tothe invention, in the event that the minimum distance is fallen shortof, in particular in the event that said minimum distance is fallenshort of in the final parking position of the vehicle, the wheels arenot turned.

The device according to the invention includes means for automaticallycontrolling the steering of the vehicle and is used to implement themethod according to the invention, in particular according to one of theembodiments described above. According to the invention the deviceincludes, for this purpose, at least one device for detecting andmonitoring a minimum distance from a road edge fixture.

Various known environment-detecting sensor systems for vehicles, forexample camera, radar, ultrasound or lidar systems, can thereby be usedas the device for detecting and monitoring the minimum distance. The useof a so-called surround view camera system, wherein single images fromdifferent areas of the vehicle surroundings are captured by means of aplurality of cameras arranged on the vehicle and merged to produce anoverall view, in particular to produce a panorama or top viewrepresentation, is particularly advantageous.

In addition, the device according to the invention preferably includesmeans for outputting information regarding the minimum distance to thevehicle driver and/or means for carrying out an automated parkingmaneuver, wherein these are designed to observe the minimum distancefrom the road edge fixture, in particular on reaching the parkingposition. The means for informing the driver can, for example, be aloudspeaker for audible information and/or a display screen forproviding information visually regarding the minimum distance, similarlyto known PDC systems (Park Distance Control Systems). The means forcarrying out an automated parking maneuver can, for example, be aso-called parking assistance system, which maneuvers the vehicle bymeans of automated interventions in the driving dynamics, i.e. by meansof automated longitudinal and/or lateral control of the vehicle,maneuvering said vehicle from an initial position into a parkingposition.

1. A method for safely parking a vehicle, comprising: upon completion ofa parking maneuver of the vehicle, automatically controlling at leasttwo wheels of the vehicle such that the at least two wheels are turnedtowards the toward a road edge in a direction of travel, and withdetection equipment of the vehicle, monitoring a minimum distance of thevehicle from a road edge fixture relative to a specified distance valueduring the parking maneuver.
 2. The method according to claim 1, whereinthe parking maneuver is a manual parking maneuver involving longitudinaland lateral control of the vehicle by a vehicle driver, and furthercomprising informing the vehicle driver of the minimum distance from theroad edge fixture during the manual parking maneuver.
 3. The methodaccording to claim 1 wherein the parking maneuver is an automatedparking maneuver involving at least one automated lateral control of thevehicle, and further comprising automatically maintaining the minimumdistance from the road edge fixture to equal or exceed the specifieddistance value during the automated parking maneuver.
 4. The methodaccording to claim 1, wherein the automatic controlling of the wheelscomprises turning the wheels to a lesser extent when the minimumdistance is finally less than the specified distance value and turningthe wheels to a greater extent when the minimum distance is finallygreater than or equal to the specified distance value.
 5. The methodaccording to claim 1, wherein the automatic controlling of the wheelscomprises turning the wheels when the minimum distance is finallygreater than or equal to the specified distance value, and not turningthe wheels when the minimum distance is finally less than the specifieddistance value.
 6. The method according to claim 1, further comprisingselecting the specified distance value such that the wheels do not touchthe road edge fixture upon turning.
 7. A device for implementing themethod according to claim 1, comprising means for automaticallycontrolling the turning of the at least two wheels of the vehicle, andthe detection equipment configured and adapted to monitor the minimumdistance of the vehicle from the road edge fixture relative to thespecified distance value.
 8. The device according to claim 7, furthercomprising an output device configured for outputting informationregarding the minimum distance to the vehicle driver.
 9. The deviceaccording to claim 7, further comprising means for carrying out theparking maneuver as an automated parking maneuver, which are configuredto maintain the minimum distance from the road edge fixture to equal orexceed the specified distance value during the automated parkingmaneuver.